CN103568936B - Driver assistance device and the ground conveying machine with driver assistance device - Google Patents
Driver assistance device and the ground conveying machine with driver assistance device Download PDFInfo
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- CN103568936B CN103568936B CN201310289878.7A CN201310289878A CN103568936B CN 103568936 B CN103568936 B CN 103568936B CN 201310289878 A CN201310289878 A CN 201310289878A CN 103568936 B CN103568936 B CN 103568936B
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- Prior art keywords
- conveying machine
- ground conveying
- driver assistance
- assistance device
- circular path
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/0029—Spatial arrangement
- B60Q1/0035—Spatial arrangement relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
- B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2800/00—Features related to particular types of vehicles not otherwise provided for
- B60Q2800/20—Utility vehicles, e.g. for agriculture, construction work
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Driver assistance device for ground conveying machine (1), described ground conveying machine has the deflecting roller (21) of at least one rear side, this deflecting roller is arranged on ground conveying machine (1) and above and can photo effect be projected on runway (13), for the turning driving of described ground conveying machine (1), the circular path (12) of the excircle (14) of vehicle tail (15) can be marked on described runway (13) by described photo effect.
Description
Technical field
The present invention relates to a kind of driver assistance device for ground conveying machine and having so drive
The ground conveying machine of the person's of sailing auxiliary device.In particular, the present invention relates to one for having at least one
The driver assistance device of the ground conveying machine of the deflecting roller of individual rear side, described driver assistance fills
Put and be arranged on ground conveying machine and photo effect can be projected on runway.
Background technology
Disclosed in different vehicles, such as bus, caravan and truck, they equipped with
Camera system, in order to avoid and obstacle in driving condition driver not being seen to Chu and difficulty
Occurring to bump against and realize assessment to runway, this assessment is by mirror or in the situation of direct viewing
Under be highly difficult.Camera system is also disclosed that in ground conveying machine, especially counterweight fork truck
Use.Disclosed possible traffic route according to steering angle by document DE102007063226A1
Join in the display of photographs, in order to display is being driven a vehicle in the case of the steering angle of described deflection
Whether road has possible obstacle.
The most disadvantageously, the display of photographed images do not allow three-dimensional print as and can only
Allow display line track, the ground figure that significantly diminishes.Thus, it is desirable to the attention that driver is high, in order to know
Obstacle whether is had to be in runway.
Conveying machinery as counterweight fork truck embodiment is the most so constructed, i.e. hoist having
By having the front axle realization driving of the wheel not turned on the front side of support.On the afterbody of counterweight fork truck
To arrange counterweight relative to lifting bracket big lever arm of trying one's best, one or two deflecting roller is in described
Below counterweight.Here, deflecting roller is not the most driven.Alternatively as embodiment party
Formula is also open (especially for three-wheel foklift truck), by turning function and will drive function if desired
Be incorporated in unique, be arranged in the wheel below counterweight.As REPOSITORY TECHNOLOGY apparatus, such as derrick car,
Reach truck, picker, the most horizontal picker or vertical picker and shelf fork truck are real
Execute the ground conveying machine of mode also by one or more round on afterbody to.But, institute
In the case of having these, deflecting roller has very large deflection angle, in order to reach the least radius of turn
And (the most also in narrow shelf passage) realizes the traveling turning 90 degrees, in order to make goods receive
Device, such as goods fork alignment shelf location.Here, maximum is common close to the deflection angle of 90 °,
Be equivalent to laterally disposed relative to longitudinal direction of car direction.This such as realizes counterweight fork truck substantially around front axle
Rotation.Not only deflecting roller is in the setting of afterbody, and the large deflection angle of deflecting roller all will cause,
In the case of entirely to turn to deflection approaching, the afterbody of ground conveying machine very strongly deflects.By
This, when assess mistakenly or do not have the curvilinear path of week auspicious the circumference considering motor vehicles or track and
When causing bumping against, may result in adjacent building, goods or shelf and the damage of motor vehicles.For
People around there is also possible danger, and described people is in and is carried by this ground disclosed in prior art
The rear flank side of machinery.
A kind of ground with visual alarm device is disclosed defeated by document DE102006002960A1
Send machinery, in this ground conveying machine, the photo effect pointing to travel direction projected on runway,
So as the people in the surrounding that warning is before the nearest ground conveying machine.
The shortcoming of the prior art is, is not accounted for when turning driving by above by described technology
The danger that the lateral deflection of the ground conveying machine described causes.
Summary of the invention
Therefore, the task of the present invention is, it is provided that a kind of driver assistance device and a kind of ground are defeated
Send machinery, especially counterweight fork truck, can simply and quickly identify that ground conveying machine exists by it
Moving and thus avoiding above-mentioned shortcoming during turning driving.
This task by have the feature of claim 1 driver assistance device and have right want
The ground conveying machine seeking the feature of 4 solves.The present invention is advantageously improved scheme and configuration at appurtenance
Profit is given in requiring.
This task is by the driving of the ground conveying machine of the deflecting roller for having at least one rear side
Member's auxiliary device solves, and this driver assistance device is arranged on ground conveying machine and can be by light efficiency
Should project on runway, wherein, described photo effect can be used for the turning driving of ground conveying machine
The circular path of excircle of vehicle tail go out at runway subscript.
When driver assistance device is arranged on ground conveying machine and when correspondingly adjusting, circumference rail
Mark indicates the prediction as vision of the line by photo effect on runway, outside described vehicle tail
Rib can move when continuing and travel in the deflection angle that turns to determine on described line.Here, described circumference
Track is corresponding to outmost line, and this line is inswept by the outer rib of vehicle tail.At ground conveying machine
When in resting state or moving when ground conveying machine, marking of circular path can be realized.Advantageously,
Thus the people for operation ground conveying machine can know before approaching, and vehicle tail is to determine
Turn to deflection revolution time whether can encounter obstacle because this obstacle also will by described photo effect photograph see or
Can recognize, i.e. obstacle is in the inside of circular path.Therefore, for operating the people of ground conveying machine
Can relatively simply assess the ground conveying machine locational requirement when turning driving.Can avoid with adjacent
Object or obstacle, especially with the collision of goods shelf.Advantageously, row is continued at ground conveying machine
Also the people resting on surrounding is made to note visually and be warned motor vehicles range of activity in the case of sailing.
When people run counter to safety criterion remain in the deathtrap of ground conveying machine rear flank side time, especially
It is that this additionally promotes in the case of counterweight fork truck but also in the case of REPOSITORY TECHNOLOGY apparatus
Safety in said case.Driver assistance device according to the present invention can be embodied as Guan Bi,
Compact unit, this unit can be arranged on ground conveying machine with the method for supplementary equipment simply.
Here, it is contemplated that apply the circular path determined as track, this circular path is in each feelings
It is all sufficiently large under condition, so that the actual line of vehicle is in circumference when revolution in turning driving
The inside of track.
In the favourable configuration of the present invention, photo effect can be by corresponding to the solid line of circular path or dotted line
Composition.
All visual effects are suitable as photo effect, can be recognized for people by these visual effects
By the inswept line determined of vehicle tail as circular path.
Circular path is labeled as line or dotted line can realize by assembling light source.
Photo effect can be produced by laser instrument according to the preferred embodiment of the present invention.
This task is also by having the deflecting roller of at least one rear side and previously described driver assistance
The ground conveying machine of device solves, and in described driver assistance device, photo effect belongs to and turns to deflection
The circular path of the excircle of vehicle tail can be gone out at runway subscript in the case of turning driving.
Equipped with the ground conveying machine of the driver assistance device according to the present invention have before carried
And advantage.The display of circular path realizes preferably towards the following side of ground conveying machine, vehicle tail
Portion is towards the revolution of described side and therefore there is the danger bumped against with obstacle, the most also can be
Both sides realize.Advantageously, when obstacle by photo effect according to seeing or time obstacle is in the inside of circular path,
The people handling ground conveying machine can determine whether, vehicle tail with determine when turning to deflection revolution whether
Obstacle can be encountered.To the rotating range resting on the people of surrounding and being pointed out by photo effect ground conveying machine
And alert this people.It is defeated that solution according to the present invention is particularly advantageous for all types of ground
Send machinery, as long as these ground conveying machines at least so move in the part run, i.e. turn to
By at the direction of motion later and the most one or more rear side wheel realize.Big when carrying out
When turning to deflection, in the case of described setting, side produce king-sized revolution.Therefore,
The present invention is such as also applicable in forklift trucks, reach truck, picker, especially level pick
Take in machine or vertical picker and shelf fork truck, when they travel forward with goods fork and goods wheel
Time, described shelf fork truck at least has a driving wheel that uniquely can turn to.In said case,
Also significant lateral deflection is caused when turning to deflection.
Advantageously, described circular path can be started substantially until relative to wink from described vehicle tail
Time motor vehicles longitudinal axis maximum lateral deflection height on mark.
Thus, showing the people of driver or operation and identify, which vehicle maximum is deflectable to
Big lateral width and there may be which obstacle in this region.
In advantageous embodiment, can show for the maximum circular path turning to deflection.
In simple embodiment, can be with instantaneous actual steering deflection angle independently for maximum
Turn to the circular path that deflection display is fixing.The maximum deflection that turns to also causes the biggest revolution.
Therefore, when not having obstacle to be in circular path inside, it is also possible to travel with the least steering angle.
In the improvement project of the present invention, can show for the instantaneous circular path turning to deflection.
By automatically adapting to according to steering angle and following the tracks of circular path, the people for driver or operation can
Can, such as in the resting state of ground conveying machine, continuing row by ground conveying machine
Before sailing, adjust the most for a long time and turn to deflection, until guaranteeing can no longer encounter obstacle.?
This, it is contemplated that, the most additionally mark in addition to for the instantaneous circular path turning to deflection
The circular path of deflection is turned to for maximum.
The deflection that the turns to more than minimum angles that driver assistance device can be determined by is connected.
When after exceeding certain tolerance angle as minimum angle by turning to deflection connection driver itself
Auxiliary device and when then photo effect being projected on runway, it is not necessary to by the connection of people and
Marking of circular path is the most available, if necessary.
Advantageously, driver assistance device can pass through switch connection.
Thus, attainable, driver assistance device is not with continuous service work and makes people irritated
Or make people uncomfortable.
Additionally, driver assistance device can be connected when less than limit travel speed.Because generally ground
Conveying machinery turns to realizing when operating in low travel speed of deflection with big, so driver assistance
Device can turn on automatically in a straightforward manner.
Advantageously, photo effect can be thrown by driver assistance device in the one or both sides of ground conveying machine
It is mapped on runway.
Under normal conditions, here it is particularly advantageous that by circular path in the following side of ground conveying machine
On mark, vehicle tail next when travelling owing to turning to deflection to deflect on described side.But,
Also motor vehicles both sides circular path can be marked, in particular, mark maximum and turn to the circumference rail of deflection
Mark.Thus obtain can the solution of simple realization, this solution need not sense and turns to accurately
Deflection angle and need not calculate in a large number in this solution.
In the advantageous configuration of the present invention, ground conveying machine has driver protecting canopy and driver
Auxiliary device has light source in the upper area being arranged on driver protecting canopy, for photo effect.
Driver protecting canopy provides high position, and this position makes circular path display on runway become
Obtain simply.
Ground conveying machine can have a lifting bracket and driver assistance device can have to be arranged on and hoists
Light source in the upper area of support, for photo effect.
Particularly in the ground conveying machine without tiltable lifting bracket, such setting is
Favourable and the probability put by driver assistance device height is provided.This is such as at high lift-V shape dress
Carry car, reach truck, picker, the most horizontal picker or vertical picker and shelf
It fork truck is described situation.
Ground conveying machine can have a counterweight and driver assistance device can have and is arranged on the upper of counterweight
Light source in region, portion, for photo effect.
Accompanying drawing explanation
Other advantages and the details of the present invention are further elucidated with according to the embodiment illustrated in the diagram.
Here, show:
Fig. 1 illustrates the ground conveying machine with driver assistance device according to the present invention with top view
Schematic diagram, and
Fig. 2 illustrates according to the present invention, Fig. 1 ground conveying machine with side view.
Detailed description of the invention
Fig. 1 illustrates according to the present invention, the conveying of the ground with driver assistance device 3 with top view
Machinery 1(the most such as counterweight fork truck 2) schematic diagram.Counterweight fork truck 2 has on lifting bracket 4
The goods guided receives device 5, and described goods receives the form that device is goods fork 6.Lifting bracket 4
It is arranged on the top of the front axle with front-wheel 7, by counterweight fork truck 2 described in described front-wheel drive.Drive
Member's protection canopy 8 is in after lifting bracket 4 and counterweight 9 is in after driver protecting canopy 8.
Turn to trailing wheel to be in after counterweight 9 and the most not shown, turn to trailing wheel to make institute by described
State counterweight fork truck 2 to turn to.Driver assistance device 3 be such as arranged on driver protecting canopy 8 and
Launch the laser 10 of laser instrument 11 or the gathering light of light source as photo effect, existed by this photo effect
A circular path 12 is marked on runway 13.When counterweight fork truck 2 selection with trailing wheel from the position illustrated
Steering angle (corresponding to steering wheel 16 turn to deflection) when outputing, circular path 12 is corresponding to joining
The motion of the excircle 14 of the vehicle tail 15 of weight fork truck 2.When counterweight fork truck 2 is from the position illustrated
When outputing, line 17 of the center delineation of counterweight 9 and the vehicle tail 15 that is made up of counterweight 9
The circular path 12 that excircle 14 is inswept to be marked by laser instrument 11.
In the position illustrated of counterweight fork truck 2, goods shelf 18 are in the side of counterweight fork truck 2,
Described goods shelf are placed pallet 19.Shown in when steering wheel 16 instantaneous turns to deflection
Circular path 12 falls can conduct on goods shelf 18 and for the driver of counterweight fork truck 2
Photo effect is seen well.Therefore, alert driver, need reduce steering wheel 16 turn to deflection or
Monitor the fork truck approaching to goods shelf 18 and stop counterweight fork truck 2 in time.By circular path 12
Light also alert the people being between counterweight fork truck 2 and goods shelf 18: he is in deathtrap.
Fig. 2 is shown as the counterweight fork according to the present invention, Fig. 1 ground conveying machine with side view
Car 2.Driver assistance device 3 laterallys secure on the upside at driver protecting canopy 8.Goods fork 6
The goods of form receives device 5 and guides on lifting bracket 4, this lifting bracket be in powered before
Above wheel 7.Being provided below of driver protecting canopy 8, there is the operator's seat 20 of steering wheel 16.
There is the counterweight 9 turning to trailing wheel 21 being disposed below be in vehicle tail 15.Driver assistance
The light source being such as configured to laser instrument 11 of device 3 launches laser 10, by this laser at runway
Marking circular path 12 on 13, it is in this example as dotted line.Alternatively, circular path 12 also may be used
Marked by solid line.
As long as steering wheel 16 exceedes the minimum angles determined from dead ahead to deflection, then driver assistance dress
Put 3 laser instrument 11 or alternatively other light sources the most automatically connect on the persistent period turn to deflection
Logical and show instantaneous circular path 12 when turning to deflection.In this way, for driver
For can quickly and intuitively each time point both know about continue travel in the case of described vehicle
Where afterbody 15 will be moved to and what described excircle 14 will bump against with.Here, after turning to
The deflection angle of wheel 21 or steering wheel 16 can be by all by prior art the methods and apparatus disclosed, especially
It is determined by sensor and flows to driver assistance device 3.By driver assistance device 3 highland
It is arranged on driver protecting canopy 8 and is capable of accurately and well showing circular path 12.
The present invention is not limited to counterweight fork truck 2 described here, as ground conveying machine 1
Example and can be applicable in all types of ground conveying machine, in described ground conveying machine,
The notable inclined of vehicle tail is caused when turning driving by the wheel of one or more rear side turned to
Turn.
Claims (14)
1. the driver assistance device for ground conveying machine (1), described ground conveying machine has the deflecting roller (21) of at least one rear side, described driver assistance device is arranged on described ground conveying machine (1) and above and can photo effect be projected on runway (13), it is characterized in that, for the turning driving of described ground conveying machine (1), the circular path (12) of the excircle (14) of vehicle tail (15) can be marked on described runway (13) by described photo effect.
Driver assistance device the most according to claim 1, it is characterised in that described photo effect is made up of solid line or the dotted line corresponding to described circular path (12).
Driver assistance device the most according to claim 1 and 2, it is characterised in that described photo effect is produced by laser instrument (11).
4. a ground conveying machine, its deflecting roller (21) with at least one rear side and a driver assistance device according to any one of claim 1 to 3 (3), it is characterized in that, belong to and turn to the described photo effect of deflection to be marked on runway (13) in the case of turning driving by the circular path (12) of the excircle (14) of vehicle tail (15).
Ground conveying machine the most according to claim 4, it is characterized in that, described circular path (12) can start substantially until marking relative to the height of the maximum lateral deflection of instantaneous maneuver car longitudinal axis from described vehicle tail (15).
6. according to the ground conveying machine described in claim 4 or 5, it is characterised in that can show for the maximum circular path (12) turning to deflection.
7. according to the ground conveying machine described in claim 4 or 5, it is characterised in that can show for the instantaneous circular path (12) turning to deflection.
8. according to the ground conveying machine described in claim 4 or 5, it is characterised in that described driver assistance device (3) can be connected by exceeding the deflection that turns to of the minimum angles determined.
9. according to the ground conveying machine described in claim 4 or 5, it is characterised in that described driver assistance device (3) can pass through switch connection.
10. according to the ground conveying machine described in claim 4 or 5, it is characterised in that described driver assistance device (3) can be connected when less than limit travel speed.
11. according to the ground conveying machine described in claim 4 or 5, it is characterized in that, photo effect can be projected on described runway (13) by described driver assistance device (3) in the one or both sides of described ground conveying machine (1).
12. according to the ground conveying machine described in claim 4 or 5; it is characterized in that, described ground conveying machine (1) has driver protecting canopy (8) and described driver assistance device has light source in the upper area being arranged on described driver protecting canopy (8), for described photo effect.
13. according to the ground conveying machine described in claim 4 or 5, it is characterized in that, described ground conveying machine (1) has lifting bracket (4) and described driver assistance device has light source in the upper area being arranged on described lifting bracket (4), for described photo effect.
14. according to the ground conveying machine described in claim 4 or 5, it is characterized in that, described ground conveying machine (1) has counterweight (9) and described driver assistance device is arranged on light source in the upper area of described counterweight (9), for described photo effect.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012106989.1A DE102012106989A1 (en) | 2012-07-31 | 2012-07-31 | Passenger assistance device and industrial truck with driving assistance device |
| DE102012106989.1 | 2012-07-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103568936A CN103568936A (en) | 2014-02-12 |
| CN103568936B true CN103568936B (en) | 2016-12-28 |
Family
ID=48782904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310289878.7A Active CN103568936B (en) | 2012-07-31 | 2013-07-11 | Driver assistance device and the ground conveying machine with driver assistance device |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US9802528B2 (en) |
| EP (1) | EP2692687B1 (en) |
| CN (1) | CN103568936B (en) |
| DE (1) | DE102012106989A1 (en) |
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| US6422728B1 (en) * | 1999-07-15 | 2002-07-23 | Russel A. Riggin | Safety light |
| DE102006002960A1 (en) * | 2006-01-21 | 2007-07-26 | Linde Ag | Floor conveying vehicle with heat device to protect people around it projects light effects from vehicle into path of travel, distance and/or size of projection surface changes depending on vehicle speed |
| DE102007063226A1 (en) * | 2007-12-31 | 2009-07-02 | Still Gmbh | Driving assistance providing method for industrial truck i.e. fork-lift truck, involves determining possible traffic lane of industrial truck through computing unit on basis of longitudinal axis, and displaying lane on screen |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2692687B1 (en) | 2015-05-27 |
| US9802528B2 (en) | 2017-10-31 |
| CN103568936A (en) | 2014-02-12 |
| EP2692687A1 (en) | 2014-02-05 |
| US20140158468A1 (en) | 2014-06-12 |
| DE102012106989A1 (en) | 2014-02-06 |
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